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Add instrumentation requirements

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Christophe Bedard 2019-05-29 15:14:19 +02:00
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doc/design_ros_2.md
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Design document for ROS 2 tracing, instrumentation, and analysis effort.
## Overview
## Goals and requirements
### Goal
@ -10,11 +10,26 @@ Provide low-overhead tools and resources for robotics software development based
### Requirements: instrumentation
TODO
Instrumentation should be built around the main uses of ROS 2, and should include relevant information.
1. In general
1. When creating a publisher/subscriber/service/client/etc., appropriate references should be kept in order to correlate with other tracepoints related to the same instance.
1. Publisher & subscription
1. When creating a publisher/subscription, the effective topic name should be included (i.e. including namespace and after remapping).
2. When publishing a message, some sort of message identifier should be included in the tracepoint so it can be tracked through DDS up to the subscriber's side.
3. Callbacks (subscription, service, client, timer)
1. Callback function symbol should be included, whenever possible.
2. Information about callback execution (e.g. start & end) should be available.
4. Timer
1. Information about the period should be available.
5. Executors
1. Information about spin cycles & periods should be available.
6. Others
1. Provide generic tracepoints for user code.
### Requirements: analysis & visualization
Analyses should be general enough to be useful for different use-cases, e.g.:
Analyses process trace data. They should be general enough to be useful for different use-cases, e.g.:
* Callback duration
* Time between callbacks (between two callback starts and/or a callback end and a start)
@ -29,7 +44,7 @@ Analyses should be general enough to be useful for different use-cases, e.g.:
with mean, stdev, etc. when applicable.
Generic tracepoints should also be provided for ROS 2 user code, which could then be applied to a user-provided model for higher-level behaviour statistics and visualization.
Generic tracepoints for ROS 2 user code could be applied to a user-provided model for higher-level behaviour statistics and visualization.
### Tools/accessibility